Daniqe Kottelenberg / Mbed 2 deprecated a_check_emg

EMG signals all around zero, not showing differences anymore in hidscope

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of a_check_emg_filtered_without_cal by Daniqe Kottelenberg

main.cpp@18:d7695ac04de3, 2016-10-24 (annotated)

Committer:
daniQQue
Date:
Mon Oct 24 12:09:25 2016 +0000
Revision:
18:d7695ac04de3
Parent:
17:4548efffe193
Child:
19:fb98ff1d06ed
; vergeet?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniQQue 0:34c739fcc3e0 1 //libraries
daniQQue 0:34c739fcc3e0 2 #include "mbed.h"
daniQQue 0:34c739fcc3e0 3 #include "HIDScope.h"
daniQQue 14:5b17697cf775 4 #include "BiQuad.h"
daniQQue 0:34c739fcc3e0 5
daniQQue 0:34c739fcc3e0 6 //Define objects
daniQQue 18:d7695ac04de3 7 AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++
daniQQue 16:fd4521a4f0b3 8 Ticker sample_timer; //ticker
daniQQue 18:d7695ac04de3 9 HIDScope scope( 3); //open 3 channels in hidscope
daniQQue 8:cd0cb71b69f2 10 DigitalOut richting_motor1(D4); //motor1 direction output
daniQQue 8:cd0cb71b69f2 11 PwmOut pwm_motor1(D5); //motor1 velocity output
daniQQue 0:34c739fcc3e0 12 DigitalOut led(LED_GREEN);
daniQQue 18:d7695ac04de3 13 DigitalIn button (D9);
daniQQue 0:34c739fcc3e0 14
daniQQue 0:34c739fcc3e0 15 //define variables
daniQQue 18:d7695ac04de3 16 double emg_biceps_right;
daniQQue 18:d7695ac04de3 17 double emg_filtered_high_biceps_right;
daniQQue 18:d7695ac04de3 18 double emg_abs_biceps_right;
daniQQue 18:d7695ac04de3 19 double emg_filtered_biceps_right;
daniQQue 7:42d0e38196f1 20 int onoffsignal=0;
daniQQue 18:d7695ac04de3 21 double cut_off_value=0.20;
daniQQue 18:d7695ac04de3 22 double max_right_biceps;
daniQQue 18:d7695ac04de3 23
daniQQue 15:bb4a6c7836d8 24 BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 15:bb4a6c7836d8 25 BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 26
daniQQue 15:bb4a6c7836d8 27 //functions which are called in ticker
daniQQue 0:34c739fcc3e0 28 void filter(){
daniQQue 18:d7695ac04de3 29 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 18:d7695ac04de3 30 emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right);
daniQQue 18:d7695ac04de3 31 emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float
daniQQue 18:d7695ac04de3 32 emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right);
daniQQue 18:d7695ac04de3 33 led=!led;
daniQQue 7:42d0e38196f1 34
daniQQue 18:d7695ac04de3 35 if (emg_filtered_biceps_right>cut_off_value)
daniQQue 7:42d0e38196f1 36 {onoffsignal=1;}
daniQQue 7:42d0e38196f1 37
daniQQue 7:42d0e38196f1 38 else
daniQQue 7:42d0e38196f1 39 {onoffsignal=0;}
daniQQue 7:42d0e38196f1 40
daniQQue 0:34c739fcc3e0 41 //send signals to scope
daniQQue 18:d7695ac04de3 42 scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1
daniQQue 18:d7695ac04de3 43 scope.set(1, emg_filtered_biceps_right);
daniQQue 18:d7695ac04de3 44 scope.set(2, onoffsignal);
daniQQue 0:34c739fcc3e0 45 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 46 }
daniQQue 18:d7695ac04de3 47
daniQQue 18:d7695ac04de3 48 void calibration(){
daniQQue 18:d7695ac04de3 49 for(int n =0; n<5000;n++){ //read for 5000 samples as calibration
daniQQue 18:d7695ac04de3 50 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 18:d7695ac04de3 51 emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); //highpass
daniQQue 18:d7695ac04de3 52 emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float
daniQQue 18:d7695ac04de3 53 emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); //lowpass to envelope
daniQQue 18:d7695ac04de3 54 if (emg_filtered_biceps_right > max_right_biceps){ //determine what the highest reachable emg signal is
daniQQue 18:d7695ac04de3 55 max_right_biceps = emg_filtered_biceps_right;
daniQQue 18:d7695ac04de3 56 }
daniQQue 18:d7695ac04de3 57
daniQQue 18:d7695ac04de3 58 cut_off_value=0.2*max_right_biceps;
daniQQue 18:d7695ac04de3 59 }
daniQQue 0:34c739fcc3e0 60 //program
daniQQue 0:34c739fcc3e0 61
daniQQue 0:34c739fcc3e0 62 int main()
daniQQue 18:d7695ac04de3 63 {
daniQQue 0:34c739fcc3e0 64 sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds
daniQQue 4:7d9ca9c1dcce 65
daniQQue 0:34c739fcc3e0 66 //endless loop
daniQQue 18:d7695ac04de3 67 while(1) {
daniQQue 18:d7695ac04de3 68 if(button==0){
daniQQue 18:d7695ac04de3 69 &calibri(); } //if button pressed calibration starts again!
daniQQue 18:d7695ac04de3 70
daniQQue 8:cd0cb71b69f2 71 if (onoffsignal==1)
daniQQue 8:cd0cb71b69f2 72 {
daniQQue 8:cd0cb71b69f2 73 richting_motor1 = 0; //motordirection (ccw)
daniQQue 10:7255b59224cc 74 pwm_motor1 = 1; //motorspeed 1
daniQQue 8:cd0cb71b69f2 75
daniQQue 8:cd0cb71b69f2 76 }
daniQQue 8:cd0cb71b69f2 77 else if(onoffsignal==0)
daniQQue 8:cd0cb71b69f2 78 {
daniQQue 8:cd0cb71b69f2 79 richting_motor1 = 0; //motordirection (ccw)
daniQQue 8:cd0cb71b69f2 80 pwm_motor1 = 0; //motorspeed 0
daniQQue 18:d7695ac04de3 81 }
daniQQue 8:cd0cb71b69f2 82
daniQQue 18:d7695ac04de3 83 }
daniQQue 0:34c739fcc3e0 84 }